基于螺旋桨壁面效应的四旋翼无人机超机动栖息研究

李白杨; 祝小平; 周洲; 宫镆沙; 王睿

doi:10.12382/bgxb.2025.0236

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基于螺旋桨壁面效应的四旋翼无人机超机动栖息研究

更新时间：2026-04-24

- 基于螺旋桨壁面效应的四旋翼无人机超机动栖息研究
- Research on Aggressive Perching of Quadrotor UAVs Based on Propeller Wall Effect
- 兵工学报 2026年47卷第1期页码：250236
- 作者机构：
  
  西北工业大学航天学院，陕西西安 710072
  西北工业大学航空学院，陕西西安 710072
  西北工业大学飞行器基础布局全国重点实验室，陕西西安 710072
- 作者简介：
  
  *通信作者邮箱：wangrui@nwpu.edu.cn
- 基金信息：
  
  特色学科基础研究项目(G2022WD)
- DOI：10.12382/bgxb.2025.0236
  中图分类号： V212.1
- 收稿：2025-04-02，
  
  网络首发：2026-02-11，
  
  纸质出版：2026-01-31
- 稿件说明：
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李白杨, 祝小平, 周洲, 等. 基于螺旋桨壁面效应的四旋翼无人机超机动栖息研究[J]. 兵工学报, 2026,47(1):250236.

LI Baiyang, ZHU Xiaoping, ZHOU Zhou, et al. Research on Aggressive Perching of Quadrotor UAVs Based on Propeller Wall Effect[J]. Acta Armamentarii, 2026, 47(1): 250236.
李白杨, 祝小平, 周洲, 等. 基于螺旋桨壁面效应的四旋翼无人机超机动栖息研究[J]. 兵工学报, 2026,47(1):250236. DOI： 10.12382/bgxb.2025.0236.

LI Baiyang, ZHU Xiaoping, ZHOU Zhou, et al. Research on Aggressive Perching of Quadrotor UAVs Based on Propeller Wall Effect[J]. Acta Armamentarii, 2026, 47(1): 250236. DOI： 10.12382/bgxb.2025.0236.

摘要

针对四旋翼无人机持续作业任务中续航时间短的问题，提出一种基于螺旋桨壁面效应的气动栖息机构，通过负压吸附与壁面摩擦实现高效栖息。该机构基于螺旋桨壁面效应，通过螺旋桨与平面接近时产生的负压提高无人机推力，使无人机栖息状态相较于悬停状态降低71%的功耗。为了提高栖息成功率和超机动栖息过程中的稳定性，提出一种利用四旋翼无人机轨迹规划与控制方法，对无人机的位置、速度和姿态进行精确控制。考虑到无人机在接近墙壁过程中的超机动控制问题，按照无人机位置、姿态等约束条件设计轨迹规划方法，利用轨迹规划方法中的航点约束实现无人机姿态的平滑变化；通过几何控制方法对规划轨迹曲线进行精确跟踪，实现无人机对壁面的超机动栖息，并通过实物飞行实验验证新方法的可行性。

Abstract

In order to solve the problem of limited endurance of quadrotor unmanned aerial vehicles (UAVs ) in sustained duty

a pneumatic perching mechanism based on the propeller wall effect is proposed

which achieves efficient perching by negative pressure absorption and wall friction. The mechanism is to increases UAV thrust by using the negative pressure generated when the UAV propeller is close to the plane

reducing the power consumption duing aggressive perching by 71% compared to hovering. In order to improve the success rate of perching and the stability during aggressive perching

a trajectory planning and control method for quadrotor UAVs is proposed

which can accurately control the position

velocity and attitude of UAV. Considering the aggressive control of UAV during its approach to a wall

the trajectory planning methods are designed according to the constraints of the position and attitude of UAV. The smooth change in UAV's attitude is achieved using the waypoint constraints in the trajectory planning method. The planning trajectory curve is accurately tracked by means of geometric control method

and the aggressive perching of UAV on the wall is achieved.

关键词

Keywords

references

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